qpcpp/ports/posix-qv/qp_port.hpp

//============================================================================
// QP/C++ Real-Time Embedded Framework (RTEF)
//
//                   Q u a n t u m  L e a P s
//                   ------------------------
//                   Modern Embedded Software
//
// Copyright (C) 2005 Quantum Leaps, LLC <state-machine.com>.
//
// SPDX-License-Identifier: GPL-3.0-or-later OR LicenseRef-QL-commercial
//
// This software is dual-licensed under the terms of the open source GNU
// General Public License version 3 (or any later version), or alternatively,
// under the terms of one of the closed source Quantum Leaps commercial
// licenses.
//
// The terms of the open source GNU General Public License version 3
// can be found at: <www.gnu.org/licenses/gpl-3.0>
//
// The terms of the closed source Quantum Leaps commercial licenses
// can be found at: <www.state-machine.com/licensing>
//
// Redistributions in source code must retain this top-level comment block.
// Plagiarizing this software to sidestep the license obligations is illegal.
//
// Contact information:
// <www.state-machine.com/licensing>
// <info@state-machine.com>
//============================================================================
//! @date Last updated on: 2023-09-07
//! @version Last updated for: @ref qpcpp_7_3_0
//!
//! @file
//! @brief QP/C++ port to POSIX-QV (signgle threaded), generic C++11

#ifndef QP_PORT_HPP_
#define QP_PORT_HPP_

#include <cstdint>    // Exact-width types. C++11 Standard

#ifdef QP_CONFIG
#include "qp_config.hpp" // external QP configuration
#endif

// no-return function specifier (C++11 Standard)
#define Q_NORETURN  [[ noreturn ]] void

// QActive event queue type
#define QACTIVE_EQUEUE_TYPE  QEQueue
//QACTIVE_OS_OBJ_TYPE  not used in this port
//QACTIVE_THREAD_TYPE  not used in this port

// QF critical section for POSIX-QV, see NOTE1
#define QF_CRIT_STAT
#define QF_CRIT_ENTRY()      QP::QF::enterCriticalSection_()
#define QF_CRIT_EXIT()       QP::QF::leaveCriticalSection_()

// QF_LOG2 not defined -- use the internal LOG2() implementation

namespace QP {
namespace QF {

// internal functions for critical section management
void enterCriticalSection_();
void leaveCriticalSection_();

// set clock tick rate and p-thread priority
// (NOTE ticksPerSec==0 disables the "ticker thread"
void setTickRate(uint32_t ticksPerSec, int tickPrio);

// clock tick callback (NOTE not called when "ticker thread" is not running)
void onClockTick();

// abstractions for console access...
void consoleSetup();
void consoleCleanup();
int consoleGetKey();
int consoleWaitForKey();

} // namespace QF
} // namespace QP

// include files -------------------------------------------------------------
#include "qequeue.hpp"   // POSIX-QV port needs the native event-queue
#include "qmpool.hpp"    // POSIX-QV port needs the native memory-pool
#include "qp.hpp"        // QP platform-independent public interface

//============================================================================
// interface used only inside QF implementation, but not in applications

#ifdef QP_IMPL

    // QF scheduler locking for POSIX-QV (not needed in single-thread port)
    #define QF_SCHED_STAT_
    #define QF_SCHED_LOCK_(dummy) (static_cast<void>(0))
    #define QF_SCHED_UNLOCK_()    (static_cast<void>(0))

    // QF event queue customization for POSIX-QV...
    #define QACTIVE_EQUEUE_WAIT_(me_) \
        Q_ASSERT_INCRIT(302, (me_)->m_eQueue.m_frontEvt != nullptr)

#ifndef Q_UNSAFE
    #define QACTIVE_EQUEUE_SIGNAL_(me_) \
        QF::readySet_.insert((me_)->m_prio); \
        QF::readySet_.update_(&QF::readySet_dis_); \
        pthread_cond_signal(&QP::QF::condVar_)
#else
    #define QACTIVE_EQUEUE_SIGNAL_(me_) \
        QF::readySet_.insert((me_)->m_prio); \
        pthread_cond_signal(&QP::QF::condVar_)
#endif

    // native QF event pool operations
    #define QF_EPOOL_TYPE_  QMPool
    #define QF_EPOOL_INIT_(p_, poolSto_, poolSize_, evtSize_) \
        (p_).init((poolSto_), (poolSize_), (evtSize_))
    #define QF_EPOOL_EVENT_SIZE_(p_)  ((p_).getBlockSize())
    #define QF_EPOOL_GET_(p_, e_, m_, qs_id_) \
        ((e_) = static_cast<QEvt *>((p_).get((m_), (qs_id_))))
    #define QF_EPOOL_PUT_(p_, e_, qs_id_)  ((p_).put((e_), (qs_id_)))

    #include <pthread.h> // POSIX-thread API

namespace QP {
namespace QF {
    extern QPSet readySet_;
    extern QPSet readySet_dis_;
    extern pthread_cond_t condVar_; // Cond.var. to signal events
} // namespace QF
} // namespace QP

#endif // QP_IMPL

//============================================================================
// NOTE1:
// QP, like all real-time frameworks, needs to execute certain sections of
// code exclusively, meaning that only one thread can execute the code at
// the time. Such sections of code are called "critical sections".
//
// This port uses a pair of functions QF::enterCriticalSection_() /
// QF::leaveCriticalSection_() to enter/leave the cirtical section,
// respectively.
//
// These functions are implemented in the qf_port.cpp module, where they
// manipulate the file-scope POSIX mutex object QF::pThreadMutex_
// to protect all critical sections. Using the single mutex for all crtical
// section guarantees that only one thread at a time can execute inside a
// critical section. This prevents race conditions and data corruption.
//
// Please note, however, that the POSIX mutex implementation behaves
// differently than interrupt disabling. A common POSIX mutex ensures
// that only one thread at a time can execute a critical section, but it
// does not guarantee that a context switch cannot occur within the
// critical section. In fact, such context switches probably will happen,
// but they should not cause concurrency hazards because the critical
// section eliminates all race conditionis.
//
// Unlinke simply disabling and enabling interrupts, the mutex approach is
// also subject to priority inversions. However, the p-thread mutex
// implementation, such as POSIX threads, should support the priority-
// inheritance protocol.
//
// NOTE2:
// Scheduler locking (used inside QActive::publish()) is not needed in the
// single-threaded port, because event multicasting is already atomic.
//

#endif // QP_PORT_HPP_